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   <div id="projectname">SecurBot
   &#160;<span id="projectnumber">0.1</span>
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   <div id="projectbrief">A cutting edge robotic security platform</div>
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<div class="title">SecurBot Package </div>  </div>
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<div class="textblock"><p>This package contains the navigation files for the different robotic platforms.</p>
<h2>Content</h2>
<p>The package contains the following folders:</p>
<ul>
<li>config: Navigation configuration files (1 folder per base)<ul>
<li>base_local_planner_params.yaml: Parameters for the local planner (TrajectoryPlannerROS) and the global planner (NavfnROS) of move_base</li>
<li>costmap_common_params.yaml: Parameters for the local and global costmap with the obstacle sources</li>
<li>global_costmap_params.yaml: Parameters for the global costmap</li>
<li>local_costmap_params.yaml: Parameters for the local costmap</li>
<li>smoother.yaml: Parameters for the yocs_velocity_smoother</li>
</ul>
</li>
<li>launch: ROS launch files<ul>
<li>localization.launch: Starts the robot base and RTAB-Map in localization mode.</li>
<li>mapping.launch: Starts the robot base and RTAB-Map in mapping mode.</li>
<li>mapping.rviz: RViz config save file with the correct display to monitor mapping.</li>
<li>navigation.launch: Starts move_base node with the params from the config folder.</li>
<li>navigation.rviz: RViz config save file with the correct display to monitor navigation.</li>
<li>patrolExecutive.launch: Starts the ROS node that can execute a patrol on the robot.</li>
<li>teleop.launch: Starts the teleop node.</li>
<li>include: Contains the specific launch files for the hardware setup of each robot.<ul>
<li>bases: Launch files for the specific base of the robot</li>
<li>frames: Frames of reference for the sensors</li>
<li>sensors: Lidar and camera launch files</li>
<li>securbot_bringup.launch: Starts the robot with the appropriate base, frames and sensors.</li>
<li>rtabmap_bringup.launch: Starts RTAB-Map in mapping or localization according to the provided arguments.</li>
<li>virtualDevices.launch: Start the map image generator and create the virtual cameras trough V4L2 loopback that will be opened by EasyRTC.</li>
</ul>
</li>
<li>template_launch_files: Contains templates for creating new launch files.</li>
<li>demo:<ul>
<li>securbot_demo.launch: Start the full SecurBot demo with RTAB-Map in mapping mode. It allows teleoperation and patrol trough the web interface.</li>
</ul>
</li>
</ul>
</li>
<li>scripts: Python scripts for the waypoint navigation</li>
<li>test: Test scripts for the package's scripts based on the ROS test framework and Python unittest.</li>
</ul>
<h2>Usage</h2>
<p>Visit <a href="https://github.com/introlab/securbot/wiki/ROS-Getting-Started">the wiki</a> for examples on how to use these files. </p>
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